CN105538324B - Televox based on dtmf signal - Google Patents
Televox based on dtmf signal Download PDFInfo
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- CN105538324B CN105538324B CN201511004582.1A CN201511004582A CN105538324B CN 105538324 B CN105538324 B CN 105538324B CN 201511004582 A CN201511004582 A CN 201511004582A CN 105538324 B CN105538324 B CN 105538324B
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- stepper motor
- module
- support
- steering wheel
- flat board
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a kind of televox based on dtmf signal, and it includes robot body, first circuit board, second circuit board.The signal detection module of first circuit board can receive DTMF voice signals, be communicated by bluetooth approach and second circuit board, and according to received signal, control machine people completes to advance second circuit board, the function such as article crawl and illumination.For the present invention using MT8870 modules as signal detection and recognition module, detection identifies handset dialing sound, and passes through some column processing control machines people and perform command adapted thereto.User only needs to open dial pad for mobile phones, signal detection and recognition module is connected with mobile phone by earphone cord, you can facilitate control machine people.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of televox based on dtmf signal.
Background technology
Existing robot can realize various ways control, but be generally adopted by IR remote controller or mobile phone indigo plant
Tooth, need during control to download specific app or use specific remote control, it is not convenient enough.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of televox based on dtmf signal.
In order to achieve the above object, the technical solution adopted in the present invention is as follows：A kind of acoustic control machine based on dtmf signal
Device people, including the first stepper motor, the second stepper motor, the 3rd stepper motor, the 4th stepper motor, the first omni-directional wheel, second
Omni-directional wheel, the 3rd omni-directional wheel, the 4th omni-directional wheel, the first flat board, the second flat board, the first steering wheel, the second steering wheel, the 3rd steering wheel, machine
Machinery claw, L-type plate, the first U-shaped board, first support, the second U-shaped board, second support, the 3rd support, first circuit board, second circuit
Plate；Wherein, the first flat board and the second flat board are square plate, have support tube, the first flat board on four angles of the second flat board
It is fixed on the support tube of the second flat board；The lower surface of second flat board uniformly the first stepper motor of installation, the second stepper motor, the
Three stepper motors, the 4th stepper motor；First omni-directional wheel is arranged on the output shaft of the first stepper motor, the installation of the second omni-directional wheel
On the output shaft of the second stepper motor, the 3rd omni-directional wheel is arranged on the output shaft of the 3rd stepper motor, the 4th omni-directional wheel is pacified
On the output shaft of the 4th stepper motor；
One side of the L-type plate is fixed on one end of the first flat board upper surface, and the bottom of the first U-shaped board is fixed on L-type plate
Another side；First support is arranged in the first U-shaped board, is hinged with the first U-shaped board；First steering wheel is arranged in first support,
For controlling rotational angle of the first support in the first U-shaped board；The bottom of second U-shaped board is fixed in first support, the 2nd U
Installation second support, second support are hinged with the second U-shaped board in template；Second steering wheel is installed on the secondary support bracket, for controlling
Rotational angle of the second support in the second U-shaped board；3rd support is arranged on the top of second support；Gripper and the 3rd support
Be hinged, the 3rd steering wheel is arranged on the 3rd support, and the output shaft of the 3rd steering wheel is connected with gripper, for control machine machinery claw
Close size；
For the first circuit board as remote control panel, it includes the first power module, signal detection and recognition module, the first list
Piece machine, the first bluetooth communication module；Wherein, external input power is introduced circuit and pressure regulation to 5V by first power module,
Corresponding operating voltage is provided for other modules；Signal detection and recognition module and the first bluetooth communication module with the first monolithic
Machine is connected, wherein, signal detection and recognition module draws an earphone cord, is connected for the earphone interface with mobile phone, detects hand
Dtmf signal corresponding to machine keypad tone, and judge its characteristic frequency, button number corresponding to received signal is identified, and according to difference
Recognition result produces specific pin level change；First single-chip microcomputer reception signal detects to be become with the pin level of identification module
Change, be worth according to corresponding to level change by Serial Port Transmission respective keys number to the first bluetooth communication module；
The second circuit board is fixed on the second flat board, and it includes second source module, the first driving stepper motor mould
Block, the second stepper motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module, second singlechip,
Second bluetooth communication module；Wherein, external input power is introduced circuit by the second source module and pressure regulation is to 5V, is other
Module provides corresponding operating voltage；First stepper motor drive module, the second stepper motor drive module, the 3rd stepper motor
Drive module, the 4th driving stepper motor module and the second bluetooth communication module are connected with the I/O ports of second singlechip；Its
In, the first stepper motor drive module is used to drive the first stepper motor；Second stepper motor drive module is used to drive
Second stepper motor；3rd driving stepper motor module is used to drive the 3rd stepper motor；4th driving stepper motor module is used
In the 4th stepper motor of driving；First steering wheel, the second steering wheel, the 3rd steering wheel are connected with the PWM output ports of second singlechip；
Second bluetooth communication module is used for the information for receiving the transmission of the first bluetooth communication module, and sends second singlechip to serial ports；
Second singlechip is as core control portions, for controlling first to fourth driving stepper motor module and the first to the 3rd rudder
Machine, the break-make of control relay, and receive the Serial Port Information that the second bluetooth communication module is sent.
Further, in addition to uniformly the first stepper motor seat installed in the lower surface of the second flat board, the second stepping are electric
Support, the 3rd stepper motor seat, the 4th stepper motor seat；First stepper motor is arranged on the first stepper motor seat；Second step
Stepper motor is arranged on the second stepper motor seat；3rd stepper motor is arranged on the 3rd stepper motor seat；4th stepper motor
On the 4th stepper motor seat.
Further, in addition to D. C. bulb, D. C. bulb base and relay；Wherein, the D. C. bulb base glues
The first flat board upper surface is attached to, D. C. bulb is arranged on D. C. bulb base, for illuminating；D. C. bulb and relay phase
Even, relay is connected with the I/O ports of the second singlechip of second circuit board, and relay is used to isolate the logical of control 12V voltages
Break to control the bright dark of D. C. bulb.
The present invention has an advantageous effect in that compared with background technology：The present invention is examined using MT8870 modules as signal
Survey and identification module, detection identify handset dialing sound, and pass through a series of processing control machine people and perform command adapted theretos.User is only
Need to open dial pad for mobile phones, signal detection and recognition module is connected with mobile phone by earphone cord, you can facilitate control machine
Device people.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the present invention；
Fig. 2 is the partial enlarged drawing of the present invention；
Fig. 3 is the upward view of the present invention；
Fig. 4 is the first circuit board schematic diagram of the present invention；
Fig. 5 is the second circuit board schematic diagram of the present invention；
In figure, the first stepper motor 1, the second stepper motor 2, the 3rd stepper motor 3, the 4th stepper motor 4, the first stepping
Motor cabinet 5, the second stepper motor seat 6, the 3rd stepper motor seat 7, the 4th stepper motor seat 8, the first omni-directional wheel 9, the second omnidirectional
Take turns the 10, the 3rd omni-directional wheel 11, the 4th omni-directional wheel 12, the first flat board 13, the second flat board 14, the first stud 15, the second stud 16, the
Three studs 17, the 4th stud 18, the 3rd support 19, the first steering wheel 20, the second steering wheel 21, the 3rd steering wheel 22, gripper 23, direct current
Bulb 24, D. C. bulb base 25, L-type plate 26, the first U-shaped board 27, first support 28, the second U-shaped board 29, second support 30.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As described in Fig. 1-3, the present invention includes the first stepper motor 1, the second stepper motor 2, the 3rd stepper motor the 3, the 4th
Stepper motor 4, the first stepper motor seat 5, the second stepper motor seat 6, the 3rd stepper motor seat 7, the 4th stepper motor seat 8,
One omni-directional wheel 9, the second omni-directional wheel 10, the 3rd omni-directional wheel 11, the 4th omni-directional wheel 12, the first flat board 13, the second flat board 14, the first spiral shell
Post 15, the second stud 16, the 3rd stud 17, the 4th stud 18, the 3rd support 19, the first steering wheel 20, the second steering wheel 21, the 3rd rudder
Machine 22, gripper 23, D. C. bulb 24, D. C. bulb base 25, L-type plate 26, the first U-shaped board 27, first support 28, the 2nd U
Template 29, second support 30, first circuit board (not shown), second circuit board (not shown), relay are (in figure not
Show)；Wherein, the first flat board 13 and the second flat board 14 are square plate, have support tube on four angles of the second flat board 14,
First stud 15 through the first support tube of the second flat board 14, the second stud 16 through the second flat board 14 the second support tube, the
Three studs 17 through the 3rd support tube of the second flat board 14, the 4th stud 18 through the second flat board 14 the 4th support tube by first
Flat board 13 is fixedly connected with the second flat board 14；The lower surface of second flat board 14 is uniformly distributed the first stepper motor seat 5, the second stepping
Motor cabinet 6, the 3rd stepper motor seat 7, the 4th stepper motor seat 8；First stepper motor 1 is arranged on the first stepper motor seat 5；
Second stepper motor 2 is arranged on the second stepper motor seat 6；3rd stepper motor 3 is arranged on the 3rd stepper motor seat 7；The
Four stepper motors 4 are arranged on the 4th stepper motor seat 8；First omni-directional wheel 9 be arranged on the first stepper motor 1 output shaft on,
Second omni-directional wheel 10 is arranged on the output shaft of the second stepper motor 2, the 3rd omni-directional wheel 11 is arranged on the defeated of the 3rd stepper motor 3
On shaft, the 4th omni-directional wheel 12 be arranged on the 4th stepper motor 4 output shaft on；D. C. bulb base 25 is pasted onto the first flat board
13 upper surfaces, D. C. bulb 24 is arranged on D. C. bulb base 25, for illuminating；D. C. bulb 24 is connected with relay, after
Electrical equipment is connected with second circuit board, and relay is used to isolate the break-make for controlling 12V voltages to control the bright dark of D. C. bulb 24；
One side of the L-type plate 26 is fixed on one end of the upper surface of the first flat board 13, and the bottom of the first U-shaped board 27 is fixed on
The another side of L-type plate 26；First support 28 is arranged in the first U-shaped board 27, be hinged with the first U-shaped board 27；First steering wheel 20 is pacified
In first support 28, for controlling rotational angle of the first support 28 in the first U-shaped board 27；The bottom of second U-shaped board 29
Portion is fixed in first support 28, and installation second support 30, the U-shaped board 29 of second support 30 and second are be hinged in the second U-shaped board 29；
Second steering wheel 21 is arranged in second support 30, for controlling rotational angle of the second support 30 in the second U-shaped board 29；3rd
Support 19 is arranged on the top of second support 30；The support 19 of gripper 23 and the 3rd is be hinged, and the 3rd steering wheel 22 is arranged on the 3rd
On frame 19, the output shaft of the 3rd steering wheel 22 is connected with gripper 23, the opening and closing size for control machine machinery claw 23.
As shown in figure 4, the first circuit board, as remote control panel, it includes the first power module, signal detection and recognition
Module, the first single-chip microcomputer, the first bluetooth communication module；Wherein, external input power is introduced circuit by first power module
And pressure regulation provides corresponding operating voltage to 5V for other modules；Signal detection and recognition module and the first bluetooth communication module
It is connected with the first single-chip microcomputer, wherein, signal detection and recognition module draws an earphone cord, for the earphone interface with mobile phone
Connection, dtmf signal corresponding to mobile phone key sound is detected, and judge its characteristic frequency, identify button corresponding to received signal
Number, and produce specific pin level according to different recognition results and change；First single-chip microcomputer reception signal detects and identification module
Pin level change, value (such as button 1 is for 0x01) is given according to corresponding to level change by Serial Port Transmission respective keys number
First bluetooth communication module.
As shown in figure 5, the second circuit board is fixed on the second flat board, it includes second source module, the first stepping
Motor drive module, the second stepper motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module,
Second singlechip, the second bluetooth communication module；Wherein, external input power is introduced circuit and pressure regulation by the second source module
To 5V, corresponding operating voltage is provided for other modules；First stepper motor drive module, the second stepper motor drive module,
3rd driving stepper motor module, the 4th driving stepper motor module, the second bluetooth communication module and relay are single with second
The I/O ports of piece machine are connected；Wherein, the first stepper motor drive module is used to drive the first stepper motor 1；Second stepping
Motor drive module is used to drive the second stepper motor 2；3rd driving stepper motor module is used to drive the 3rd stepper motor 3；
4th driving stepper motor module is used to drive the 4th stepper motor 4；First steering wheel 20, the second steering wheel 21, the 3rd steering wheel 22 are equal
It is connected with the PWM output ports of second singlechip；Second bluetooth communication module is used to receive the transmission of the first bluetooth communication module
Information, and send second singlechip to serial ports；Second singlechip is as core control portions, for controlling first to fourth step
Stepper motor drive module and the first to the 3rd steering wheel, the break-make of control relay, and receive what the second bluetooth communication module was sent
Serial Port Information.
First bluetooth communication module, the second bluetooth communication module can use model HC-05 bluetooth module, but
Not limited to this；First power module, second source module can use model LM2596S power modules, but be not limited to
This；The signal detection and recognition module can use model MT8870 modules, but not limited to this；First single-chip microcomputer,
Second singlechip can use Atmel companies model Atmega128 product, but not limited to this；The relay module can
To use cloud brightness relay module, but not limited to this all the way；The first stepper motor drive module, the second driving stepper motor
Module, the 3rd driving stepper motor module, the 4th driving stepper motor module can use cloud brightness TB6560 stepper motor modules,
But not limited to this.
The course of work of the present invention is as follows：
The earphone cord that the signal detection and recognition module of first circuit board is drawn, is connected with the earphone interface of any mobile phone.
User opens dialing keyboard, presses a certain button.Pressing different key can control robot to realize difference in functionality, such as following table institute
Show.
| Button 1/ turns left | Button 2/ advances | Button 3/ is turned right |
| The left lateral of button 4/ | The bright light of button 5/ | The right lateral of button 6/ |
| Button 7/ captures | Button 8/ retreats | Button 9/ is placed |
| Button */undefined | Button 0/ is turned off the light | Button #/undefined |
If exemplified by pushing button 2, keypad tone corresponding to button 2 examines the signal that first circuit board is transferred to from earphone cord
Survey and identification module, this audio signal are made up of a high fdrequency component and a low frequency component, its low frequency centre frequency is
679Hz, high frequency centre frequency are 1336Hz.Signal detection and recognition module can detect height centre frequency, judge that institute is defeated
Enter signal and correspond to button as 2, decoding output end Q4, Q3, Q2, Q1 by 4 tri-states exports to corresponding level, button 2 pair
Answer Q4, Q3, Q2, Q1 output level respectively low, low, high and low.The first I/O pins of single-chip microcomputer 4 and signal detection and recognition mould
Block tri-state decoding output end Q4, Q3, Q2, Q1 be connected, by detect this 4 I/O pins incoming level combine, judge by
Key is 2.The serial ports transmitting-receiving pin of first single-chip microcomputer is connected with the first bluetooth module, is sent by serial ports corresponding to button 2
This signal is sent to the second bluetooth module of second circuit board by 0x02 signals, the first bluetooth module.Second bluetooth module and
The serial ports transmitting-receiving pin of two single-chip microcomputers is connected, and will be transferred to the second monolithic from the 0x02 signals received by the first bluetooth module
Machine, second singlechip receive 0x02 signals, perform advance command, are embodied in the I/O pins of second singlechip module, lead to
Cross low and high level and switch output pwm signal in order, control the second stepper motor drive module and the 4th driving stepper motor module,
For second and the 4th stepper motor input power is provided, the second stepper motor of control rotates forward, and the reversion of the 4th stepper motor, makes machine
People advances.
If exemplified by pushing button 1, keypad tone corresponding to button 1 examines the signal that first circuit board is transferred to from earphone cord
Survey and identification module, this audio signal are made up of a high fdrequency component and a low frequency component, its low frequency centre frequency is
679Hz, high frequency centre frequency are 1209Hz.Signal detection and recognition module can detect height centre frequency, judge that institute is defeated
Enter signal and correspond to button as 1, decoding output end Q4, Q3, Q2, Q1 by 4 tri-states exports to corresponding level, button 1 pair
Answer Q4, Q3, Q2, Q1 output level respectively low, low, high and low.First I/O pin of single-chip microcomputer 4 and signal detection and recognition mould
Block tri-state decoding output end Q4, Q3, Q2, Q1 be connected, by detect this 4 I/O pins incoming level combine, judge by
Key is 1.The serial ports transmitting-receiving pin of first single-chip microcomputer is connected with the first bluetooth module, is sent by serial ports corresponding to button 1
This signal is sent to the second bluetooth module of second circuit board by 0x01 signals, the first bluetooth module.Second bluetooth module and
The serial ports transmitting-receiving pin of two single-chip microcomputers is connected, and will be transferred to the second monolithic from the 0x01 signals received by the first bluetooth module
Machine, second singlechip receive 0x01 signals, perform advance command, are embodied in the I/O pin of second singlechip module, lead to
Cross low and high level and switch output pwm signal in order, control the first stepper motor drive module and the 3rd driving stepper motor module,
For first and the 3rd stepper motor input power is provided, the first stepper motor of control rotates forward, the 4th stepper motor rotates forward, and makes machine
People's rotate counterclockwise (left-hand rotation).
If exemplified by pushing button 5, keypad tone corresponding to button 5 examines the signal that first circuit board is transferred to from earphone cord
Survey and identification module, this audio signal are made up of a high fdrequency component and a low frequency component, its low frequency centre frequency is
770Hz, high frequency centre frequency are 1336Hz.Signal detection and recognition module can detect height centre frequency, judge that institute is defeated
Enter signal and correspond to button as 5, decoding output end Q4, Q3, Q2, Q1 by 4 tri-states exports to corresponding level, button 5 pair
Answer Q4, Q3, Q2, Q1 output level respectively low, low, high and low.First I/O pin of single-chip microcomputer 4 and signal detection and recognition mould
Block tri-state decoding output end Q4, Q3, Q2, Q1 be connected, by detect this 4 I/O pins incoming level combine, judge by
Key is 5.The serial ports transmitting-receiving pin of first single-chip microcomputer is connected with the first bluetooth module, is sent by serial ports corresponding to button 5
This signal is sent to the second bluetooth module of second circuit board by 0x05 signals, the first bluetooth module.Second bluetooth module and
The serial ports transmitting-receiving pin of two single-chip microcomputers is connected, and will be transferred to the second monolithic from the 0x05 signals received by the first bluetooth module
Machine, second singlechip receive 0x05 signals, perform the order for lighting bulb, are embodied in second singlechip module and relay
The I/O pin output high level of device module connection, makes relay module output high level be powered for D. C. bulb.
If exemplified by pushing button 7, keypad tone corresponding to button 7 examines the signal that first circuit board is transferred to from earphone cord
Survey and identification module, this audio signal are made up of a high fdrequency component and a low frequency component, its low frequency centre frequency is
852Hz, high frequency centre frequency are 1209Hz.Signal detection and recognition module can detect height centre frequency, judge that institute is defeated
Enter signal and correspond to button as 7, decoding output end Q4, Q3, Q2, Q1 by 4 tri-states exports to corresponding level, button 7 pair
Answer Q4, Q3, Q2, Q1 output level respectively low, low, high and low.First I/O pin of single-chip microcomputer 4 and signal detection and recognition mould
Block tri-state decoding output end Q4, Q3, Q2, Q1 be connected, by detect this 4 I/O pins incoming level combine, judge by
Key is 7.The serial ports transmitting-receiving pin of first single-chip microcomputer is connected with the first bluetooth module, is sent by serial ports corresponding to button 7
This signal is sent to the second bluetooth module of second circuit board by 0x07 signals, the first bluetooth module.Second bluetooth module and
The serial ports transmitting-receiving pin of two single-chip microcomputers is connected, and will be transferred to the second monolithic from the 0x07 signals received by the first bluetooth module
Machine, second singlechip receive 0x07 signals, perform the order of crawl ground article, are embodied in second singlechip module
Three PWM output ports, the first steering wheel is controlled respectively, the second steering wheel and the 3rd steering wheel rotate in sequence, i.e. control machinery arm
Acted in order with manipulator, realize that article captures.
Remaining button realization of functions mode is similar with above-mentioned example.
Claims (2)
1. a kind of televox based on dtmf signal, it is characterised in that including the first stepper motor（1）, the second stepping electricity
Machine（2）, the 3rd stepper motor（3）, the 4th stepper motor（4）, the first omni-directional wheel（9）, the second omni-directional wheel（10）, the 3rd omni-directional wheel
（11）, the 4th omni-directional wheel（12）, the first flat board（13）, the second flat board（14）, the 3rd support（19）, the first steering wheel（20）, second
Steering wheel（21）, the 3rd steering wheel（22）, gripper（23）, L-type plate（26）, the first U-shaped board（27）, first support（28）, it is second U-shaped
Plate（29）, second support（30）, first circuit board, second circuit board；Wherein, the first flat board（13）With the second flat board（14）It is
Square plate, the second flat board（14）Four angles on there is support tube, the first flat board（13）It is fixed on the second flat board（14）Branch
On stay tube；Second flat board（14）Lower surface uniformly installation the first stepper motor（1）, the second stepper motor（2）, the 3rd stepping electricity
Machine（3）, the 4th stepper motor（4）；First omni-directional wheel（9）Installed in the first stepper motor（1）Output shaft on, the second omni-directional wheel
（10）Installed in the second stepper motor（2）Output shaft on, the 3rd omni-directional wheel（11）Installed in the 3rd stepper motor（3）Output
On axle, the 4th omni-directional wheel（12）Installed in the 4th stepper motor（4）Output shaft on；
The L-type plate（26）One side be fixed on the first flat board（13）One end of upper surface, the first U-shaped board（27）Bottom fix
In L-type plate（26）Another side；First support（28）Installed in the first U-shaped board（27）It is interior, with the first U-shaped board（27）It is be hinged；The
One steering wheel（20）Installed in first support（28）On, for controlling first support（28）In the first U-shaped board（27）Interior angle of rotation
Degree；Second U-shaped board（29）Bottom be fixed on first support（28）On, the second U-shaped board（29）Interior installation second support（30）, the
Two supports（30）With the second U-shaped board（29）It is be hinged；Second steering wheel（21）Installed in second support（30）On, for controlling second
Frame（30）In the second U-shaped board（29）Interior rotational angle；3rd support（19）Installed in second support（30）Top；Gripper
（23）With the 3rd support（19）It is be hinged, the 3rd steering wheel（22）Installed in the 3rd support（19）On, the 3rd steering wheel（22）Output shaft
With gripper（23）It is connected, for control machine machinery claw（23）Opening and closing size；
For the first circuit board as remote control panel, it includes the first power module, signal detection and recognition module, the first monolithic
Machine, the first bluetooth communication module；Wherein, external input power is introduced circuit by first power module and pressure regulation is to 5V, is
Other modules provide corresponding operating voltage；Signal detection and recognition module and the first bluetooth communication module with the first single-chip microcomputer
It is connected, wherein, signal detection and recognition module draws an earphone cord, is connected for the earphone interface with mobile phone, detects mobile phone
Dtmf signal corresponding to keypad tone, and judge its characteristic frequency, button number corresponding to received signal is identified, and according to different knowledges
Other result produces specific pin level change；First single-chip microcomputer reception signal detects to be changed with the pin level of identification module,
It is worth according to corresponding to level change by Serial Port Transmission respective keys number to the first bluetooth communication module；
The second circuit board is fixed on the second flat board, and it includes second source module, the first stepper motor drive module, the
Two stepping motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module, second singlechip, second
Bluetooth communication module；Wherein, external input power is introduced circuit by the second source module and pressure regulation is to 5V, is other modules
Corresponding operating voltage is provided；First stepper motor drive module, the second stepper motor drive module, the 3rd driving stepper motor
Module, the 4th driving stepper motor module and the second bluetooth communication module are connected with the I/O ports of second singlechip；Wherein,
The first stepper motor drive module is used to drive the first stepper motor（1）；Second stepper motor drive module is used to drive
Second stepper motor（2）；3rd driving stepper motor module is used to drive the 3rd stepper motor（3）；4th driving stepper motor
Module is used to drive the 4th stepper motor（4）；First steering wheel（20）, the second steering wheel（21）, the 3rd steering wheel（22）It is single with second
The PWM output ports of piece machine are connected；Second bluetooth communication module is used for the information for receiving the transmission of the first bluetooth communication module, and together
Serial ports sends second singlechip to；Second singlechip is as core control portions, for controlling first to fourth stepper motor to drive
Dynamic model block and the first to the 3rd steering wheel, the break-make of control relay, and receive the Serial Port Information that the second bluetooth communication module is sent；
Also include D. C. bulb（24）, D. C. bulb base（25）And relay；Wherein, the D. C. bulb base（25）Paste
In the first flat board（13）Upper surface, D. C. bulb（24）Installed in D. C. bulb base（25）On, for illuminating；D. C. bulb
（24）It is connected with relay, relay is connected with the I/O ports of the second singlechip of second circuit board, and relay, which is used to isolate, to be controlled
The break-make of 12V voltages processed is to control D. C. bulb（24）It is bright dark.
2. the televox according to claim 1 based on dtmf signal, it is characterised in that also include uniformly being arranged on
Second flat board（14）Lower surface the first stepper motor seat（5）, the second stepper motor seat（6）, the 3rd stepper motor seat（7）、
4th stepper motor seat（8）；First stepper motor（1）Installed in the first stepper motor seat（5）On；Second stepper motor（2）Peace
Mounted in the second stepper motor seat（6）On；3rd stepper motor（3）Installed in the 3rd stepper motor seat（7）On；4th stepper motor
（4）Installed in the 4th stepper motor seat（8）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511004582.1A CN105538324B (en) | 2015-12-28 | 2015-12-28 | Televox based on dtmf signal |
Applications Claiming Priority (1)
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| WO2018009431A1 (en) * | 2016-07-05 | 2018-01-11 | Stealth Air Corp | Unmanned vehicle control over a wireless connection |
| CN106793405B (en) * | 2016-12-23 | 2019-04-02 | 浙江大学 | A kind of sound control illuminating system based on dtmf signal |
| CN107486832A (en) * | 2017-10-12 | 2017-12-19 | 钦州学院 | A kind of wheeled rescue robot |
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| CN203331021U (en) * | 2013-06-03 | 2013-12-11 | 山东科技大学 | Household carrying robot |
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN104108100A (en) * | 2014-07-30 | 2014-10-22 | 桂林电子科技大学 | Device capable of substituting for manual writing |
| CN104999454A (en) * | 2015-07-10 | 2015-10-28 | 黑龙江大学 | Remote-controlled omnidirectional mobile manipulator and control method thereof |
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| JP2002354139A (en) * | 2001-05-23 | 2002-12-06 | Toshiba Tec Corp | Robot control system and robot used for the system |
| JP2005161470A (en) * | 2003-12-03 | 2005-06-23 | Toshiba Tec Corp | Robot |
| KR20060108848A (en) * | 2005-04-14 | 2006-10-18 | 엘지전자 주식회사 | Cleaning robot having function of wireless controlling and remote controlling system for thereof |
| KR100645848B1 (en) * | 2005-08-30 | 2006-11-14 | 삼성광주전자 주식회사 | Mobile robot system and mobile robot remote control method |
| CN201360281Y (en) * | 2009-01-08 | 2009-12-09 | 中兴通讯股份有限公司 | Four-wire interface multimedia wire control earphone and terminal supporting same |
| CN104552230A (en) * | 2013-10-22 | 2015-04-29 | 西华大学 | Book fetching robot for library |
| CN104772750B (en) * | 2015-03-27 | 2016-08-24 | 燕山大学 | A kind of moving lifting machine people |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203331021U (en) * | 2013-06-03 | 2013-12-11 | 山东科技大学 | Household carrying robot |
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN104108100A (en) * | 2014-07-30 | 2014-10-22 | 桂林电子科技大学 | Device capable of substituting for manual writing |
| CN104999454A (en) * | 2015-07-10 | 2015-10-28 | 黑龙江大学 | Remote-controlled omnidirectional mobile manipulator and control method thereof |
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